TWI586094B - Control apparatus and associated method applied to servo motor system - Google Patents

Description

Control device and related method applied to servo motor system

This invention relates to a control apparatus and method, and more particularly to a control apparatus and associated method for use in a servo motor system.

It is well known that servo motors are indispensable components in today's automation industry and precision machining because servo motors are able to precisely control their speed and position. For example, in the field of robotic arms or mechanical work platforms, the combination of multiple servo motors allows the robotic arm or mechanical work platform to perform multi-dimensional operation.

Please refer to FIG. 1 , which is a schematic diagram of a servo motor system. The servo motor system 115 includes a driver 120, a servo motor 130, and an optical encoder 140.

The control device 110 outputs command pulses to the servo motor system 115 for performing speed and steering control of the servo motor 130 according to the user's settings. Furthermore, the servo motor system 115 is a close-loop control system. The driver 120 generates a driving current to the servo motor 130 according to the command pulse and the feedback pulses to control the speed and steering of the servo motor 130.

Furthermore, the photoelectric encoder 140 generates a feedback pulse to the driver 120 based on the speed and steering of the servo motor 130. Of course, the photoelectric encoder 140 is only A feedback element can also be replaced by other means, such as a resolver.

Basically, after the servo motor system 115 shown in FIG. 1 is mounted on a robot arm or a mechanical working platform, the user can output a command pulse to the servo motor system 115 by using the control device 110, and the robot arm or the mechanical working platform can be performed. 1 dimension of operation.

Of course, three sets of servo motor systems identical to those of Figure 1 can be mounted on a robotic arm or mechanical work platform for three dimensions of operation. In other words, the three control devices respectively output the command pulse to the corresponding servo motor system, so that the robot arm or the mechanical working platform can perform three dimensions of operation.

Therefore, how to immediately output the command pulse and correctly control the speed and position of the servo motor is the object of the present invention.

The invention relates to a control device for generating a command pulse to a servo motor system, the control device comprising: a segment parameter storage circuit for storing a plurality of segment parameters, and each of the segment parameters comprises: a target speed a value, an increment, and a predetermined number of pulses, wherein when the segment parameter storage circuit outputs a first segment parameter, when the segment end signal is received, the segment parameter storage circuit outputs a second segment a speed superposition circuit that receives the target speed value in the second segment parameter and the increment and generates a current speed value, wherein the current speed value is determined by the target speed value in the first segment parameter Changing to the target speed value in the second segment parameter; a speed conversion circuit receiving the current velocity value and generating a pulse modulation signal; and a pulse comparison circuit converting the pulse modulation signal into the a first signal in the command pulse, wherein the pulse comparison circuit receives the preset number of pulses and counts the number of pulses generated by the pulse modulated signal When the number of pulses of the pulse modulation signal generated pulses reaches the predetermined number, generating the segment end signal.

The invention relates to a control method for a control device to generate a command pulse to a servo motor system, the control method comprising: (a) according to a region a segment end signal, controlling the servo motor system to end a first segment and starting a second segment, wherein in the first segment, the command pulse is generated according to a first segment parameter, and in the second region In the segment, the command pulse is generated according to a second segment parameter; (b) receiving a target velocity value, an increment and a preset pulse number in the second segment parameter; (c) setting a current velocity value And determining the target speed value in the first segment parameter; (d) determining whether the number of pulses generated by the pulse modulation signal reaches the preset number of pulses; wherein the number of pulses generated by the pulse modulation signal reaches the preset When the number of pulses ends, the second segment ends; (e) determining whether the current velocity value reaches the target velocity value when the number of pulses generated by the pulse modulation signal has not reached the preset number of pulses; wherein, when the current value When the speed value reaches the target speed value, return to the step (d); and (f) when the current speed value has not reached the target speed value, update the current speed value equal to the current speed value plus Correcting the increment and returning to the step (d), wherein the correction increment is equal to the increment multiplied by a weight; wherein the control device generates the pulse modulation signal according to the current speed value and determines the pulse modulation The frequency of the signal, and the pulse modulation signal is a first signal in the command pulse.

In order to better understand the above and other aspects of the present invention, the preferred embodiments are described below, and in conjunction with the drawings, the detailed description is as follows:

110‧‧‧Control device

115‧‧‧Servo motor system

120‧‧‧ drive

130‧‧‧Servo motor

140‧‧‧Photoelectric encoder

300‧‧‧Control device

310‧‧‧Speed superposition circuit

312, 612‧‧‧ speed adder

314, 614‧‧ ‧ speed limiter

320‧‧‧Speed conversion circuit

322‧‧‧PWM generator

330‧‧‧ Section Control Circuit

332‧‧‧Pulse comparison circuit

336, 800‧‧‧ Section parameter storage circuit

360‧‧‧Servo motor system

371, 377‧‧‧ counter

373‧‧‧ divider

375, 379‧‧‧ comparator

616‧‧‧Operation filter

618‧‧‧ weight comparison table

Figure 1 is a schematic diagram of a servo motor system.

The pulse format of Figure 2A is a One Pulse Direction command pulse.

The pulse format of Figure 2B is the A/B phase (A/B phase) command pulse.

The pulse format of Figure 2C is a Clockwise Counterclockwise command pulse.

Figure 3 is a diagram showing the control device of the present invention applied to a servo motor system.

FIG. 4A is a schematic diagram of a segment parameter storage circuit.

FIG. 4B is a schematic diagram of a speed superposition circuit.

Figure 4C is a schematic diagram of a speed conversion circuit.

4D and 4E are diagrams showing an embodiment of a pulse modulation signal PWM generator and related signal diagrams.

Figure 5A is a diagram showing the control method applied to the servo motor system of the present invention.

Figure 5B is a schematic diagram showing the PWM frequency variation of the pulse modulation signal.

FIG. 6 is a schematic diagram of another speed superposition circuit of the present invention.

FIG. 7A illustrates another control method applied to the servo motor system of the present invention.

Figure 7B is a schematic diagram showing the PWM frequency variation of the pulse modulation signal.

FIG. 8 is a schematic diagram of another segment parameter storage circuit.

Basically, the control device can generate command pulses of various pulse formats depending on the format of the servo motor system. The command pulse includes an a1 signal and an a2 signal. The details are as follows: The pulse format of Fig. 2A is a schematic diagram of a single pulse direction (One Pulse Direction) command pulse. Among them, the pulse frequency of the a1 signal can further control the driver to change the frequency of the driving current, and the frequency of the driving current can be used to control the speed of the servo motor. For example, when the a1 signal pulse frequency is higher (the narrower the pulse width), the speed of the servo motor 230 is increased; conversely, when the a1 signal pulse frequency is lower (the pulse width is wider), the servo motor 230 speed is slowed down. . Furthermore, the a2 signal is used to indicate the direction of rotation. Therefore, it can be seen from the a2 signal that the servo motor is controlled to rotate in the first direction (for example, clockwise direction) at the time point t1, and the servo motor is controlled to the second direction (for example, the counterclockwise direction) at the time point t2. Turn.

The pulse format of Figure 2B is a schematic diagram of the A/B phase (A/B phase) command pulse. The command pulse includes an a1 signal and an a2 signal. When the pulse phase of the a1 signal leads the pulse phase of the a2 signal by 90 degrees, the command pulse can be controlled. The servo motor performs the first direction of rotation; conversely, when the pulse phase of the a1 signal is 90 degrees behind the pulse phase of the a2 signal, the command pulse can control the servo motor to rotate in the second direction. Therefore, at time t1, the servo motor is controlled to rotate in the first direction; and at time t2, the servo motor is controlled to rotate in the second direction. Similarly, the pulse frequency of the a1 signal and the a2 signal can control the speed of the servo motor.

The pulse format of Figure 2C is a schematic diagram of a Clockwise Counterclockwise command pulse. Wherein, when the a1 signal is actuated, the servo motor rotates in the first direction; when the a2 signal is actuated, the servo motor rotates in the second direction. Therefore, at time t1, the servo motor is controlled to rotate in the first direction; and at time t2, the servo motor is controlled to rotate in the second direction. Similarly, the pulse frequency of the a1 signal and the a2 signal can control the speed of the servo motor.

Basically, when the servo motor system receives a pulse, the drive can control the servo motor to rotate a fixed angle. For example, suppose a single pulse direction command pulse can control the servo motor to rotate 1 degree, so 3600 pulses can control the servo motor to rotate 3600 degrees, that is, 10 turns. In other words, the position of the servo motor can be controlled by controlling the angle at which the servo motor is rotated.

Furthermore, when the frequency of the pulse is higher, that is, the narrower the pulse width is, the speed of the servo motor can be increased; and when the frequency of the pulse is lower, that is, the wider the pulse width, the servo motor can be lowered. speed. In other words, controlling the pulse frequency in a single pulse direction command pulse controls the speed of the servo motor. Of course, the same principle can also be applied to the A/B phase command pulse or the forward clock rotation command pulse, which will not be described here.

Please refer to FIG. 3, which illustrates the control device applied to the servo motor system of the present invention. The control device 300 is connected to the servo motor system 360, and the control device 300 includes a velocity superposing circuit 310, a velocity transferring circuit 320, and a segment control circuit 330. The segment control circuit 330 further includes a segment parameter storage circuit 336 and a pulse comparison circuit 332. Furthermore, the servo motor system 360 receives the command pulse (a1 The signal and the a2 signal) are used to control the operation of the servo motor. In addition, the servo motor system 360 in FIG. 3 is the same as the servo motor system 115 in FIG. 1 and will not be described herein.

Basically, the user can set multiple sets of segment parameters in the segment parameter storage circuit 336. The plurality of sets of segment parameters can control the speed and position of the servo motor in different sections. Furthermore, each segment parameter includes a target velocity value (Vt), an increment (ΔV), a predetermined pulse number (Nd), and a direction signal (direction signal). , Dir). The target speed value Vt may correspond to a target frequency, and the increment ΔV corresponds to a frequency increment.

The speed superposition circuit 310 receives the target speed value Vt and the increment ΔV and calculates the current velocity (Vc) to the speed conversion circuit 320. The speed conversion circuit 320 generates a pulse modulation signal PWM based on the current speed value Vc.

The pulse comparison circuit 332 uses the pulse modulation signal PWM as one of the command pulses, such as the a1 signal in the command pulse. In addition, the pulse comparison circuit 332 generates another one of the command pulses, such as the a2 signal, based on the direction signal Dir. The command pulse of a single pulse direction composed of the a1 signal and the a2 signal can be transmitted to the servo motor system 360.

In addition, the pulse comparison circuit 332 receives the preset number of pulses Nd, and counts the number of pulses of the command pulse (for example, the a1 signal) according to the preset number of pulses Nd. When the number of pulses of the command pulse (for example, the a1 signal) reaches the preset number of pulses Nd, it represents that the servo motor reaches the preset position of the segment. Accordingly, the pulse comparison circuit 332 generates the segment end signal Nx to the segment parameter storage circuit 356, and the segment parameter storage circuit 356 provides the segment parameters of the next segment to the velocity superposition circuit 310 and the pulse comparison circuit 332.

As can be seen from the above description, the segment control circuit 330 in the control device 300 can control the speed and position of the servo motor 360 in a particular segment. The detailed circuit blocks and operation modes in the control device 300 of the present invention are described in detail below.

Please refer to FIG. 4A, which is a schematic diagram of a segment parameter storage circuit. The segment parameter storage circuit 336 includes a memory for storing a plurality of sets of segment parameters. As shown in Fig. 4A, the segment parameters of the segment (i-1) are: target velocity value Vt _i-1 , increment ΔV _i-1 , preset pulse number Nd _i-1 , direction signal Dir _{i- 1} ; the segment parameters of the segment i are: the target velocity value Vt _i , the increment ΔV _i , the preset pulse number Nd _i , the direction signal Dir _i ; the segment parameter of the segment (i+1) is: the target velocity The value Vt _i+1 , the increment ΔV _i+1 , the preset number of pulses Nd _i+1 , and the direction signal Dir _i+1 .

For example, assume that the section parameter storage circuit 336 has output the section parameters (Vt _i-1 , ΔV _i-1 , Nd _i-1 , Dir _i-1 ) of the section ( _i-1 ). Thereafter, when the segment end signal Nx is received, the segment parameter storage circuit 336 outputs the segment parameters (Vt _i , ΔV _i , Nd _i , Dir _i ) of the segment i for using the increment ΔV _i and The target speed Vt _i generates a pulse modulation signal PWM to control the speed of the servo motor, and counts the number of pulses in the pulse modulation signal PWM according to the preset number of pulses Nd _i to control the position of the servo motor. Similarly, when the segment parameter storage circuit 336 receives the segment end signal Nx again, the segment parameter storage circuit 336 re-outputs the segment parameters of the segment (i+1) (Vt _i+1 , ΔV _I+1). , Nd _i+1 , Dir _i+1 ).

Please refer to FIG. 4B, which is a schematic diagram of a speed superposition circuit. The speed superposition circuit 310 includes a speed adder 312 and a speed limiter 314. When the speed adder 312 receives the increment ΔV, the current speed value Vc is superimposed with ΔV to become the superimposed speed value Va and transmitted to the speed limiter 314. Basically, when the increment ΔV is a positive value, the superimposed speed value Va is incremented to speed up the servo motor; conversely, when the increment ΔV is a negative value, the superimposed speed value Va is decreased to reduce The speed of the servo motor.

Furthermore, the speed limiter 314 determines the relationship between the target speed value Vt and the superimposition speed value Va after each interpolation period (τ). When the superimposed speed value Va has not reached the target speed value Vt, the speed limiter 314 will output the superimposed speed value Va as the current speed value Vc. When the superimposed speed value Va reaches the target speed value Vt, the speed limiter 314 will use the superimposed speed value Va as the current speed value Vc and no longer change the current speed. Degree value Vc.

Furthermore, when the speed adder 312 receives the updated increment ΔV and the target speed value Vt again to start the next segment, the current speed value Vc is the target speed value Vt of the previous segment, and is repeated again. The above process.

As apparent from the above description, each time the speed superimposing circuit 310 receives the increment ΔV and the target speed value Vt, the speed superimposing circuit 310 gradually changes the current speed value Vc until the current speed value Vc is equal to the target speed value Vt. Furthermore, the above interpolation period is not a fixed value, and the user can appropriately modify the length of the variable interpolation period according to the actual situation.

Please refer to FIG. 4C, which is a schematic diagram of a speed conversion circuit. A pulse modulation signal PWM generator 322 is included in the speed conversion circuit 320. Basically, the PWM generator 322 receives the system clock CLKs, the current speed value Vc, and the duty cycle value Duty. Furthermore, the speed conversion circuit 320 performs a frequency division operation on the system clock CLKs according to the current speed value Vc, and generates a pulse modulation signal PWM according to the duty cycle value Duty.

For example, assuming that the system clock CLKs is 100 MHz, the current speed value Vc is 100 kHz, and the duty cycle (Duty) is 0.5, the pulse modulation signal PWM generator 322 can generate a duty cycle of 50% and 100 kHz. Pulse modulation signal PWM.

According to the above description, the speed conversion circuit 320 sets the frequency value represented by the current speed value Vc as the frequency of the pulse modulation signal PWM. Of course, the invention is not limited thereto. A person skilled in the art can design a fixed proportional relationship between the frequency of the pulse modulation signal PWM and the current speed value Vc. For example, the frequency value represented by the speed value Vc is now five times the frequency of the pulse modulation signal PWM.

Please refer to FIG. 4D and FIG. 4E , which are diagrams showing an embodiment of a pulse modulation signal PWM generator and related signal diagrams. In this case, the system clock CLKs is 100 MHz (the period is 10 ns), the current speed value Vc is 100 kHz, and the period value is 0.4 (that is, the ratio between the high level and the low level). An example is 2:3) for illustration. Furthermore, the 4D diagram is merely an embodiment of implementing the PWM generator 322 and is not intended to limit the invention.

The PWM generator 322 includes a first counter 371, a second counter 377, a first comparator 375, a second comparator 379, and a divider 373.

The first counter 371 counts the pulse of the system clock CLKs and outputs a first count value Cnt1. The divider 373 divides the frequency divided constant (Cf) by the current speed value Vc and generates a reference value Nref. Assuming that the frequency division constant Cf is 10 ⁸ , the reference value Nref is (10 ⁸ /100K=10 ³ ).

The first comparator 375 receives the first count value Cnt1 and the reference value Nref, and changes the level of the reference clock CLKref when the first count value Cnt1 reaches the reference value Nref. At the same time, the first comparator 375 resets the first counter 371 such that the first count value Cnt1 is reset to zero and is again counted according to the system clock CLKs. Therefore, as can be seen from FIG. 4E, the period Tref of the reference clock CLKref generated by the first comparator 375 is 10 μs.

Furthermore, the second counter 377 counts the pulse of the reference clock CLKref and outputs the second count value Cnt2 to the second comparator 379. The second comparator 379 compares the second count value Cnt2 according to the duty cycle value of 0.4, and generates a pulse modulation signal PWM.

For example, the second comparator 379 compares the number of changes of the second count value Cnt2. After the second count value Cnt2 changes 2 times, the second comparator 379 changes the pulse modulation signal PWM to a low level; and, when the second count value Cnt2 changes 3 times, the second comparator modulates the pulse signal The PWM changes to a high level. By repeating this cycle, the pulse modulation signal PWM of FIG. 4E can be generated, and its period Tpwm is 50 μs.

Please refer to FIG. 5A, which illustrates the control method applied to the servo motor system of the present invention. Wherein, the control method is applied to the control device 300 shown in FIG. 3, and the control device 300 continuously generates the pulse modulation signal PWM according to the current speed value Vc and determines the frequency of the pulse modulation signal PWM. The pulse modulation signal PWM is passed to the servo motor system 360.

First, when a sector starts (step S501), the target speed value Vt, the increment ΔV, and the preset number of pulses Nd are received (step S502). Next, the current speed value Vc is set equal to the target speed value of the previous zone (step S503).

Next, it is judged whether or not the pulse modulation signal PWM has generated Nd pulses (step 504). When the pulse modulation signal PWM has generated Nd pulses, a segment end signal Nx is generated (step 507); otherwise, when the pulse modulation signal PWM has not generated Nd pulses, it is determined whether the current velocity value Vc reaches the target speed. The value Vt (step 505).

When the current speed value Vc has reached the target speed value Vt, step S504 is continued; otherwise, when the speed value Vc has not yet reached the target speed value Vt, after the interpolation period (τ), the current speed value Vc is updated to the current speed value. After Vc is incremented by ΔV (step S506), step S504 is continued.

Furthermore, when the segment parameter storage circuit 336 receives the segment end signal Nx, it indicates that the segment has ended, and can continue to start the next segment, and performs the step shown in FIG. 5A again.

Please refer to FIG. 5B, which is a schematic diagram of PWM frequency variation of a pulse modulation signal. Assuming that the target speed value of the previous section is 10 kHz, the current speed value Vc is set to 10 kHz. Furthermore, since the increment ΔV is 10 kHz, the speed value Vc is now increased by 10 kHz after each insertion period τ (100 μs). And, at 1 ms, the current speed value Vc will reach the target speed value Vt, that is, 100 kHz.

Furthermore, since the area of all the squares in Fig. 5B is the sum of the pulses of the pulse modulation signal PWM. Therefore, when around 10.5 ms, the pulse modulation signal PWM generates Nd (1000) pulses, indicating that the servo motor has reached the position set by the segment, so the segment end signal Nx can be generated to the segment parameter storage circuit 336. Used to start the next section.

Since the current speed value Vc in Fig. 5B is changed by a fixed value increment ΔV each time, the servo motor is subjected to a relatively unstable state due to the inertia during the operation. The invention can modify the speed superposition circuit 310 and change Be good at this defect.

Please refer to FIG. 6 , which is a schematic diagram of another speed superposition circuit of the present invention. The speed superposition circuit 310 includes a weighting look-up table 618, an operation filter 616, a speed adder 612, and a speed limiter 614. Among them, the weight comparison table 618 records a plurality of weights (weighting, W1 ~ Wi). After each interpolation cycle (τ), the arithmetic filter 616 sequentially multiplies the increment ΔV by the corresponding weight to become a modified increment (ΔV').

Thereafter, when the speed adder 612 receives the correction increment ΔV', it superimposes the current speed value Vc and the correction increment ΔV' to become the superimposition speed value Va and transmits it to the speed limiter 614.

Furthermore, the speed limiter 614 determines the relationship between the target speed value Vt and the superimposition speed value Va after each insertion period (τ). When the superimposition speed value Va has not reached the target speed value Vt, the speed limiter 614 will output the superimposition speed value Va as the current speed value Vc. When the superimposed speed value Va reaches the target speed value Vt, the speed limiter 614 takes the superimposed speed value Va as the current speed value Vc and no longer changes the current speed value Vc.

Furthermore, when the speed adder 612 receives the updated increment ΔV and the target speed value Vt again to start the next segment, the current speed value Vc is the target speed value Vt of the previous segment, and is repeated again. The above process.

As can be seen from the above description, when the speed superimposing circuit 310 receives the correction increment ΔV' and the target speed value Vt each time, the speed superimposing circuit 310 gradually changes the current speed value Vc until the current speed value Vc is equal to the target speed value Vt. until. In other words, since the weight provided by the weight comparison table is a time variant value, the current speed value Vc is now changed in a non-fixed increment.

Of course, if the weights in the weight comparison table 618 are set to exactly one fixed value (for example, both W1 and Wi are set to 1), the speed superposition circuit 310 of FIG. 6 and the speed superposition circuit 310 of FIG. 4B are used. Will produce exactly the same result.

Please refer to FIG. 7A, which illustrates another control method applied to the servo motor system of the present invention. Wherein, the control method is applied to the control device 300 shown in FIG. 3, and the control device 300 continuously generates the pulse modulation signal PWM according to the current speed value Vc and determines the frequency of the pulse modulation signal PWM. The pulse modulation signal PWM is passed to the servo motor system 360.

First, when a sector starts (step S701), the target speed value Vt, the increment ΔV, and the preset number of pulses Nd are received (step S702). Next, the current speed value Vc is set equal to the target speed value of the previous zone (step S703).

Next, it is judged whether or not the pulse modulation signal PWM has generated Nd pulses (step 704). When the pulse modulation signal PWM has generated Nd pulses, a segment end signal Nx is generated (step 707); conversely, when the pulse modulation signal PWM has not generated Nd pulses, it is determined whether the current velocity value Vc reaches the target speed. The value Vt (step 705).

When the current speed value Vc has reached the target speed value Vt, the process proceeds to step S704; otherwise, when the speed value Vc has not yet reached the target speed value Vt, after the interpolation period (τ), the current speed value Vc is updated to the current speed value. After Vc plus the increment ΔV multiplied by the corresponding weight (step S704), step S704 is continued.

After the segment parameter storage circuit 336 receives the segment end signal Nx, the next segment can be continued, and the step shown in FIG. 7A is performed again.

Please refer to FIG. 7B, which is a schematic diagram of the PWM frequency change of the pulse modulation signal. Assuming that the target speed value of the previous section is 1 kHz, the current speed value Vc is set to 1 kHz, and the current speed value Vc is changed to the target speed value Vt (30 kHz). Furthermore, the weights in the weight comparison table 618 will gradually increase from small to large and from large to small. In other words, the correction increment ΔV' will also become smaller from small to large and smaller.

Obviously, as can be seen from Figure 7B, since the current speed value Vc per The second change is not a fixed value increment ΔV, which will make the servo motor more stable during operation.

Similarly, since the area of all the squares in Fig. 7B is the pulse number of the pulse modulation signal PWM. Therefore, when around 10.5 ms, the pulse modulation signal PWM generates Nd (1000) pulses, indicating that the servo motor has reached the position set by the segment, so the segment end signal Nx can be generated to the segment parameter storage circuit 336. Used to start the next section.

As apparent from the above description, the present invention proposes a control device and related method applied to a servo motor system. It uses a plurality of segment parameters to generate a pulse modulation signal PWM as the a1 signal, and generates a positive and negative a2 signal according to the direction signal Dir in the segment parameter, and becomes a single pulse direction command pulse for controlling the servo. The operation of the motor system. Of course, using the concept of FIG. 3, it is also possible to manufacture a pair of pulse modulation signals PWM to control the operation of the servo motor system as an A/B phase command pulse or a forward clock rotation command pulse.

Furthermore, according to the description of FIG. 4A, the segment parameter storage circuit 336 sequentially outputs the segment parameters from the low segment to the high segment. However, the present invention is not limited thereto, and those skilled in the art may also provide more fields for programming the order in which the section parameter storage circuit outputs section parameters. The following is a detailed example of a practical example: Please refer to FIG. 8 , which is a schematic diagram of another segment parameter storage circuit. The segment parameter storage circuit 800 includes a memory for storing a plurality of sets of segment parameters. The fields of each section include: section index field (index), section switching management field (SSM), section skip indicator field (Jump ptr), target speed value field (Vt), increase Quantity field (△V), preset pulse number field (Nd), direction signal field (Dir). The section switch management field (SSM) is used to control the action of the segment point (seg_ptr). Where "0" represents the number of segments plus 1 (increase), "1" represents the number of segments minus 1 (decrease), "2" represents segment skip (jump), and "3" represents segment end (stop) .

As shown in Figure 8, in the initial state, the initial velocity The degree is zero and the segment indicator seg_ptr points to segment 0. At this time, the segment parameter storage circuit 800 outputs the target velocity Vt (100 Hz) of the segment 0, the increment ΔV (+10 Hz), the preset pulse number Nd (100), and the direction signal Dir (0). That is, the pulse modulation signal PWM starts from 0 Hz, and after each interpolation period τ, the frequency is increased by one increment (ΔV=+10 Hz) until the target speed (Vt=100 Hz) is reached. Moreover, the direction signal is 0, which means that the servo motor is controlled to rotate in the first direction. When the pulse modulation signal PWM generates 100 pulses, the segment parameter storage circuit 800 receives the segment end signal Nx.

Furthermore, since the section switching management field (SSM) is set to "0" in the sector 0, the number of sections is incremented by one. Therefore, as indicated by S1, when the segment parameter storage circuit 800 receives the segment end signal Nx, the segment index seg_ptr points to the segment 1. At this time, the segment parameter storage circuit 800 outputs the target velocity Vt (120 Hz), the increment ΔV (+5 Hz), the preset pulse number Nd (300), and the direction signal Dir (0) of the segment 1. That is, the pulse modulation signal PWM starts from 100 Hz, and after each interpolation period τ, the frequency is increased by one increment (ΔV=+5 Hz) until the target speed (Vt=120 Hz) is reached. Moreover, the direction signal is 0, which means that the servo motor is controlled to rotate in the first direction. When the pulse modulation signal PWM generates 300 pulses, the segment parameter storage circuit 800 receives the segment end signal Nx.

Furthermore, since the segment switching management field (SSM) is set to "2" in the segment 1, the segment number skips, and the segment skip indicator field (Jump ptr) indicates the segment 5. Therefore, as indicated by S2, when the segment parameter storage circuit 800 receives the segment end signal Nx, the segment index seg_ptr points to the segment 5. At this time, the section parameter storage circuit 800 outputs the target speed Vt (10 Hz) of the section 5, the increment ΔV (-5 Hz), the preset number of pulses Nd (300), and the direction signal Dir (1). That is, the pulse modulation signal PWM starts from 120 Hz, and after each interpolation period τ, the frequency is reduced by one increment (ΔV=-5 Hz) until the target speed (Vt=10 Hz) is reached. Moreover, the direction signal is 1, which means that the servo motor is controlled to rotate in the second direction. When the pulse modulation signal PWM generates 300 pulses, the segment parameter storage circuit 800 receives the segment end signal Nx.

Furthermore, since the section switching management field (SSM) is set to "1" in the section 5, the number of sections is decremented by one. Therefore, as indicated by S3, when the segment parameter storage circuit 800 receives the segment end signal Nx, the segment index seg_ptr points to the segment 4. At this time, the segment parameter storage circuit 800 outputs the target velocity Vt (0 Hz) of the segment 4, the increment ΔV (-2 Hz), the preset pulse number Nd (100), and the direction signal Dir (1). That is, the pulse modulation signal PWM starts from 10 Hz, and after each interpolation period τ, the frequency is reduced by one increment (ΔV = -2 Hz) until the target speed (Vt = 0 Hz) is reached. Moreover, the direction signal is 1, which means that the servo motor is controlled to rotate in the second direction. When the pulse modulation signal PWM generates 100 pulses, the segment parameter storage circuit 800 receives the segment end signal Nx.

Furthermore, since the section switching management field (SSM) is set to "3" in the section 4, the section ends. Therefore, when the segment parameter storage circuit 800 receives the segment end signal Nx, the entire control flow is ended.

As can be seen from the description of FIG. 8, the segment parameter storage circuit 800 can be set by the user and output the segment parameters according to an arbitrary segment output order.

In conclusion, the present invention has been disclosed in the above preferred embodiments, and is not intended to limit the present invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

300‧‧‧Control device

310‧‧‧Speed superposition circuit

320‧‧‧Speed conversion circuit

330‧‧‧ Section Control Circuit

332‧‧‧Pulse comparison circuit

336‧‧‧section parameter storage circuit

360‧‧‧Servo motor system

Claims (19)

A control device generates a command pulse to a servo motor system, the control device comprising: a segment parameter storage circuit for storing a plurality of segment parameters, and each of the segment parameters includes: a target velocity value, an increment And a preset number of pulses, wherein when the segment parameter storage circuit outputs a first segment parameter, when the segment end signal is received, the segment parameter storage circuit outputs a second segment parameter; The circuit receives the target speed value in the second segment parameter and the increment and generates a current speed value, wherein the current speed value is changed by the target speed value in the first segment parameter to the second a target speed value in the segment parameter; a speed conversion circuit receiving the current speed value and generating a pulse modulation signal; and a pulse comparison circuit converting the pulse modulation signal into one of the command pulses a first signal, wherein the pulse comparison circuit receives the preset number of pulses and counts the number of pulses generated by the pulse modulation signal, when the pulse modulation signal When the number reaches the number of pulses of the predetermined raw pulse, generating the segment end signal. The control device according to claim 1, wherein the command pulse is an A/B phase command pulse, a single pulse direction command pulse, or a forward clock rotation command pulse. The control device of claim 1, wherein each of the segment parameters further comprises: a direction signal, and the pulse comparison circuit generates a second one of the command pulses according to the direction signal. The control device of claim 2, wherein the segment parameter storage circuit includes a memory for storing the segment parameters. The control device of claim 1, wherein the speed is superimposed The circuit includes: a speed adder that adds the current speed value to the increment to a superimposed speed value; and a speed limiter that converts the superimposed speed value to the current speed value, wherein the superimposed speed value When the target speed value of the second section parameter is reached, the superimposed speed value is converted to the current speed speed value and the change of the current speed speed value is stopped. The control device of claim 5, wherein the speed adder adds the increment to the superimposed speed value after an interpolation period. The control device of claim 6, wherein the interpolation period is a modifiable period of time. The control device of claim 1, wherein the speed superimposing circuit comprises: a weight comparison table, recording a plurality of weights; an operation filter connected to the weight comparison table and receiving the increment, wherein the operation The filter modifies the increment to a modified increment according to the weights; a speed adder adds the current speed value to the modified increment to a superimposed speed value; and a speed limiter, the superimposed speed value Converting to the current speed speed value, wherein when the superimposed speed value reaches the target speed value of the second section parameter, the superimposed speed value is converted to the current speed speed value and the current speed value is stopped to be changed. The control device of claim 1, wherein the speed conversion circuit includes a pulse modulation signal generator that receives a system clock, the current speed value, and a duty cycle value, and generates the pulse accordingly. Modulate the signal. The control device of claim 9, wherein the frequency of the pulse modulation signal is proportional to the current speed value, and a duty cycle of the pulse modulation signal is the same as the duty cycle value. The control device of claim 9, wherein the pulse modulation signal generator comprises: a first counter that counts the system clock and generates a first count value; and a divider that divides a frequency constant Dividing the current speed value and generating a reference value; a first comparator receiving the first count value and the reference value, and changing a reference clock when the first count value reaches the reference value Bits, and resetting the first counter; and a second counter, counting the reference clock and outputting a second count value; a second comparator comparing the second count value according to the duty cycle value and generating The pulse modulation signal. The control device of claim 1, wherein the segment parameter storage circuit further includes: a segment switching management field and a segment skip indication field; wherein When the segment parameter storage circuit receives the segment end signal, determining the second segment by the segment switching management field and the segment skip indication field in the first segment parameter. parameter. A control method for a control device to generate a command pulse to a servo motor system, the control method comprising: (a) controlling the servo motor system to end a first segment and start a second according to a segment end signal a segment, wherein, in the first segment, the command pulse is generated according to a first segment parameter, and in the second segment, the command pulse is generated according to a second segment parameter; (b) receiving the segment a target speed value, an increment, and a pre-in the second segment parameter Set the number of pulses; (c) set a current speed value equal to the target speed value in the first segment parameter; (d) determine whether the number of pulses generated by a pulse modulation signal reaches the preset number of pulses; When the number of pulses generated by the pulse modulation signal reaches the preset number of pulses, the second segment ends; (e) determining the current velocity value when the number of pulses generated by the pulse modulation signal has not reached the preset number of pulses Whether the target speed value is reached; wherein, when the current speed value reaches the target speed value, returning to the step (d); and (f) updating the current speed when the current speed value has not reached the target speed value The value is equal to the current speed value plus a correction increment, and returns to the step (d), wherein the correction increment is equal to the increment multiplied by a weight; wherein the control device generates the pulse based on the current speed value The signal is modulated and the frequency of the pulse modulation signal is determined, and the pulse modulation signal is a first signal in the command pulse. The control method according to claim 13, wherein the command pulse is an A/B phase command pulse, a single pulse direction command pulse, or a forward clock rotation command pulse. The control method of claim 13, wherein the second segment parameter further comprises: a direction signal, and the control device generates a second signal of the command pulse according to the direction signal. The control method of claim 13, wherein the weight is a time-varying value, or the weight is a certain value. The control method of claim 13, further comprising receiving a duty cycle value such that a duty cycle of the pulse modulation signal is the same as the duty cycle value. The control method of claim 13, wherein the step (f) further comprises: when the current speed value has not reached the target speed value, updating the current speed value to be equal to the current speed after an interpolation period. The value plus the correction increment. The control method of claim 18, wherein the interpolation period is a modifiable period of time.